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How to load the map for multiple robot navigation?

asked 2018-03-11 14:04:33 -0500

Kishore Kumar gravatar image

updated 2018-03-14 16:55:04 -0500

I have followed the steps in answer for this question to setup multiple robot navigation. Everything is working well except when i launch the navigation the map is not loaded and getting the below error. I have remapped map to /map but still the target frame seems to be map, how is this possible.

[WARN] [1520794132.318544579, 556.425000000]: Timed out waiting for transform from robot2_tf/base_link to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.1 timeout was 0.1. 
[ WARN] [1520794132.400360318, 556.479000000]: Request for map failed; trying again...

So, how to load the map for multiple robots navigation and make them share the map.

My launch files are as follows:

Navigation of robots launch:

<launch>
  <include file="$(find gazebo_ros)/launch/empty_world.launch">
 </include>

  <!-- include our robots -->
  <include file="$(find robot_description)/launch/myrobots.launch"/>

  Run the map server 
  <node name="map_server" pkg="map_server" type="map_server" args="$(find robot_description)/maps/map.yaml" respawn="false" >
    <param name="frame_id" value="/map" />
  </node>

  <group ns="robot1">
    <param name="tf_prefix" value="robot1_tf" />
    <param name="amcl/initial_pose_x" value="1" />
    <param name="amcl/initial_pose_y" value="1" />
    <include file="$(find robot_description)/launch/move_base.launch" />
  </group>

  <group ns="robot2">
    <param name="tf_prefix" value="robot2_tf" />
    <param name="amcl/initial_pose_x" value="1" />
    <param name="amcl/initial_pose_y" value="-1" />
    <include file="$(find robot_description)/launch/move_base.launch" />
  </group>

</launch>

multiple robots launch:

<launch>
  <!-- No namespace here as we will share this description. 
       Access with slash at the beginning -->
<param name="robot_description" textfile="$(find robot_description)/urdf/myrobot.urdf" /> 

  <!-- BEGIN ROBOT 1-->
  <group ns="robot1">
    <param name="tf_prefix" value="robot1_tf" />
    <include file="$(find robot_description)/launch/one_robot.launch" >
      <arg name="init_pose" value="-x 1 -y 1 -z 0" />
      <arg name="robot_name"  value="Robot1" />
    </include>
  </group>

  <!-- BEGIN ROBOT 2-->
  <group ns="robot2">
    <param name="tf_prefix" value="robot2_tf" />
    <include file="$(find robot_description)/launch/one_robot.launch" >
      <arg name="init_pose" value="-x 1 -y -1 -z 0" />
      <arg name="robot_name"  value="Robot2" />
    </include>
  </group>
</launch>

Move_base launch:

<launch>    
  <!--- Run AMCL -->
  <include file="$(find amcl)/examples/amcl_diff.launch" />

  <!-- Define your move_base node -->
  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <rosparam file="$(find robot_description)/src/costmap_common_params.yaml" command="load" ns="global_costmap"/>
    <rosparam file="$(find robot_description)/src/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find robot_description)/src/local_costmap_params.yaml"  command="load" />
    <rosparam file="$(find robot_description)/src/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find robot_description)/src/base_local_planner_params.yaml" command="load" />

  <remap from="map" to="/map" />
  </node>
</launch>

Edit 2: Tf frames: image description

rqt_graph: image description

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Comments

Can you please update your question with the relevant launch files?

jayess gravatar image jayess  ( 2018-03-11 17:12:13 -0500 )edit

I have edited the question as per your request

Kishore Kumar gravatar image Kishore Kumar  ( 2018-03-14 16:13:05 -0500 )edit

I have the same problem here. Has anyone managed to solve it?

Igor Muniz gravatar image Igor Muniz  ( 2018-03-28 17:09:29 -0500 )edit

Did you resolve this problem? I am encountering the same problem.

nightwish gravatar image nightwish  ( 2018-06-05 10:02:24 -0500 )edit

2 Answers

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answered 2018-06-18 11:35:55 -0500

nightwish gravatar image

updated 2018-06-29 09:48:04 -0500

I managed to deal with this problem and figured out that the problem was fixed by setting amcl's use_map_topic param to true.

<node pkg="amcl" type="amcl" name="amcl" output="screen">
         ...
         <param name="use_map_topic" value="true"/>
         ... 
</node>

Hope this can help anyone with the same problem.

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Comments

didnt help me :(

topkek gravatar image topkek  ( 2018-06-25 11:21:17 -0500 )edit

@topkek could you give some information such as launch file, tf tree, error messages in terminal?

nightwish gravatar image nightwish  ( 2018-06-27 07:45:59 -0500 )edit

main launch file https://pastebin.com/yQMru4Pj move base file https://pastebin.com/V6QzeRHP errors https://pastebin.com/pn6ZgZLV tf tree looks like the one from the question

topkek gravatar image topkek  ( 2018-06-29 03:01:26 -0500 )edit

Thank you for the information. From the error in terminal I think you need a transform tree as following map->odom->[your name space]/odom. You can use static_transform_publisher to do this.

nightwish gravatar image nightwish  ( 2018-06-29 09:30:19 -0500 )edit

@topkek please ask a new question. The comments section isn't the appropriate place for this.

jayess gravatar image jayess  ( 2018-06-29 10:07:02 -0500 )edit

map_server doesnt event load any map https://i.imgur.com/W4HtsSu.jpg

topkek gravatar image topkek  ( 2018-06-29 10:48:06 -0500 )edit

If this is related to your other question, #q294240, then please move the discussion there. Otherwise, please create a new question.

jayess gravatar image jayess  ( 2018-06-29 11:07:17 -0500 )edit

ok. i had so many questions and never got an answer...

topkek gravatar image topkek  ( 2018-06-29 11:20:42 -0500 )edit
0

answered 2018-03-14 16:23:03 -0500

jayess gravatar image

updated 2018-03-14 16:23:42 -0500

Read the error very carefully:

tf error: canTransform: target_frame map does not exist

It says that the frame map does not exist. In your first launch file you set the frame_id parameter to /map:

<node name="map_server" pkg="map_server" type="map_server" args="$(find robot_description)/maps/map.yaml" respawn="false" >
  <param name="frame_id" value="/map" /> <!-- Here -->
</node>

Try setting it to map (no /):

<node name="map_server" pkg="map_server" type="map_server" args="$(find robot_description)/maps/map.yaml" respawn="false" >
  <param name="frame_id" value="map" /> <!-- Here -->
</node>
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Comments

I tried that, same error and no difference.

Kishore Kumar gravatar image Kishore Kumar  ( 2018-03-14 16:32:13 -0500 )edit

Can you update your question with a copy of your tf tree?

jayess gravatar image jayess  ( 2018-03-14 16:45:32 -0500 )edit

Added the details

Kishore Kumar gravatar image Kishore Kumar  ( 2018-03-14 16:55:24 -0500 )edit

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Asked: 2018-03-11 14:04:33 -0500

Seen: 1,790 times

Last updated: Jun 29 '18